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GCS_MAVLink: GCS_Common: correct overflows in bandwidth and count calculations

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Peter Barker 2019-03-14 12:11:34 +11:00 committed by Andrew Tridgell
parent 227f6499d3
commit f0200a4d9b
1 changed files with 4 additions and 4 deletions
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8
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -39,14 +39,14 @@ GCS_MAVLINK::queued_param_send()
return; return;
} }
uint32_t tnow = AP_HAL::millis(); const uint32_t tnow = AP_HAL::millis();
uint32_t tstart = AP_HAL::micros(); const uint32_t tstart = AP_HAL::micros();
// use at most 30% of bandwidth on parameters. The constant 26 is // use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3) // 1/(1000 * 1/8 * 0.001 * 0.3)
const uint32_t link_bw = _port->bw_in_kilobytes_per_second(); const uint32_t link_bw = _port->bw_in_kilobytes_per_second();
uint16_t bytes_allowed = link_bw * (tnow - _queued_parameter_send_time_ms) * 26; uint32_t bytes_allowed = link_bw * (tnow - _queued_parameter_send_time_ms) * 26;
const uint16_t size_for_one_param_value_msg = MAVLINK_MSG_ID_PARAM_VALUE_LEN + packet_overhead(); const uint16_t size_for_one_param_value_msg = MAVLINK_MSG_ID_PARAM_VALUE_LEN + packet_overhead();
if (bytes_allowed < size_for_one_param_value_msg) { if (bytes_allowed < size_for_one_param_value_msg) {
bytes_allowed = size_for_one_param_value_msg; bytes_allowed = size_for_one_param_value_msg;
@ -54,7 +54,7 @@ GCS_MAVLINK::queued_param_send()
if (bytes_allowed > comm_get_txspace(chan)) { if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan); bytes_allowed = comm_get_txspace(chan);
} }
uint8_t count = bytes_allowed / size_for_one_param_value_msg; uint32_t count = bytes_allowed / size_for_one_param_value_msg;
// when we don't have flow control we really need to keep the // when we don't have flow control we really need to keep the
// param download very slow, or it tends to stall // param download very slow, or it tends to stall